Samenvatting
With high robustness, sliding mode controllers (SMC) are excellent for control
of nonlinear systems. A novel way to combat chattering based on linear
loop shaping techniques is presented, whereby switching between an SMC
and a linear controller is used. The switching is then proven to be stable via
multiple discontinuous Lyapunov functions, and implemented on a two-link
planar robot.
Originele taal-2 | Engels |
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Plaats van productie | Eindhoven |
Uitgeverij | Eindhoven University of Technology |
Aantal pagina's | 34 |
Status | Gepubliceerd - 2013 |
Publicatie series
Naam | CST |
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Volume | 2013.022 |